Strongly Suggested ROS2 Study
ROS2+Cognipilot Complexity
While anyone can build the MR-B3RB, and get it to perform the basic function as described here, further meaningful development will at minimum require some knowledge of ROS2. Below are some suggested training websites to learn about ROS2. Fundamentally B3RB is designed to be a Linux based ROS2 based robotic system with an attached real time control microcontroller. The default configuration uses Ubuntu Linux to run ROS2, as well as Zephyr RTOS + Cognipilot. Cognipilot provides the infrastructure in Zephyr to provide transparent and efficient communications to ROS2, Manage Sensors and Actuators in real time, and host the actual control system algorithms for the vehicle. Even more involved is the development of control algorithms themselves. You do NOT need to become a controls theory expert to use B3RB or any of the other pre-configured vehicle models in Cognipilot, but be aware of the following: The control algorithm software is developed externally, synthesized and then hosted by Cognipilot which is a key feature of Cognipilot Cerebri module. Control Algorithms can be simple or state of the art Model Predictive Control (MPC). Currently B3RB uses modern Lie group MPC theory. Refer to the Cognipilot documentation for more details on this if you are interested in diving deeper. Note also that the same MR-B3RB hardware *can* support any other Linux or RTOS software, but in this gitbook the configuration of ROS2 + Zephyr is the focus robotics enablement.
Below are some suggested training websites to learn about ROS2. These are only suggestions. Because ROS2 is rapidly developing, you may find better resources by searching yourself.
Suggested ROS2 study resources
ROS2 is an entire subject to study on it's own. In order to be successful in further development, it is strongly suggested you spend some time studying ROS2 fundamentals. There are many resources publicly available for this. Below are only a few.
ROS2 Fundamentals
Udemy or other types or courses provide "completion certificates" a few examples are:
NAV2 module in ROS2 training
To learn about how to run a the robots you will want to take:
Udemy ROS2 NAV2
https://www.udemy.com/share/107Tci/
The Construct - ROS2 NAV2 Navigation
https://www.theconstruct.ai/robotigniteacademy_learnros/ros-courses-library/ros2-navigation/
ROSCON
ROSCON is an highly recommended in-person conference and a great way to jumpstart your understanding of the latest development in ROS2. If you have the opportunity to attend it is an excellent conference experience. https://roscon.ros.org
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